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/// |
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/// Copyright (c) 2015 CNRS |
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/// Authors: Joseph Mirabel |
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/// |
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/// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// |
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// 1. Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// |
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// 2. Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in the |
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// documentation and/or other materials provided with the distribution. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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// DAMAGE. |
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#include <boost/serialization/weak_ptr.hpp> |
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#include <hpp/manipulation/device.hh> |
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#include <hpp/manipulation/handle.hh> |
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#include <hpp/manipulation/serialization.hh> |
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#include <hpp/pinocchio/gripper.hh> |
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#include <hpp/pinocchio/joint-collection.hh> |
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#include <hpp/pinocchio/joint.hh> |
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#include <hpp/util/serialization.hh> |
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#include <pinocchio/multibody/geometry.hpp> |
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#include <pinocchio/multibody/model.hpp> |
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namespace hpp { |
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namespace manipulation { |
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using ::pinocchio::Frame; |
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pinocchio::DevicePtr_t Device::clone() const { |
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Device* ptr = new Device(*this); |
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DevicePtr_t shPtr(ptr); |
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ptr->initCopy(shPtr, *this); |
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return shPtr; |
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} |
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void Device::setRobotRootPosition(const std::string& rn, const Transform3s& t) { |
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FrameIndices_t idxs = robotFrames(rn); |
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if (idxs.size() == 0) |
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throw std::invalid_argument("No frame for robot name " + rn); |
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pinocchio::Model& m = model(); |
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pinocchio::GeomModel& gm = geomModel(); |
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// The root frame should be the first frame. |
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Frame& rootFrame = m.frames[idxs[0]]; |
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if (rootFrame.type == ::pinocchio::JOINT) { |
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JointIndex jid = m.getJointId(rootFrame.name); |
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m.jointPlacements[jid] = t; |
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return; |
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} |
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Transform3s shift(t * rootFrame.placement.inverse()); |
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// Find all the frames that have the same parent joint. |
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for (std::size_t i = 1; i < idxs.size(); ++i) { |
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Frame& frame = m.frames[idxs[i]]; |
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if (frame.parent == rootFrame.parent) { |
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// frame is between rootFrame and next moving joints. |
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frame.placement = shift * frame.placement; |
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if (frame.type == ::pinocchio::BODY) { |
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// Update the geometry object placement. |
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for (std::size_t k = 0; k < gm.geometryObjects.size(); ++k) { |
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::pinocchio::GeometryObject& go = gm.geometryObjects[k]; |
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if (go.parentFrame == idxs[i]) go.placement = shift * go.placement; |
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} |
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} |
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} else if ((frame.type == ::pinocchio::JOINT) && |
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(rootFrame.parent == m.parents[frame.parent])) { |
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// frame corresponds to a child joint of rootFrame.parent |
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m.jointPlacements[frame.parent] = shift * m.jointPlacements[frame.parent]; |
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} |
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} |
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invalidate(); |
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// Update the pool of device data. |
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numberDeviceData(numberDeviceData()); |
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} |
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std::vector<std::string> Device::robotNames() const { |
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const pinocchio::Model& model = this->model(); |
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std::vector<std::string> names; |
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for (pinocchio::FrameIndex fi = 1; fi < model.frames.size(); ++fi) { |
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const Frame& frame = model.frames[fi]; |
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std::size_t sep = frame.name.find('/'); |
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if (sep == std::string::npos) { |
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hppDout(warning, |
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"Frame " << frame.name << " does not belong to any robots."); |
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continue; |
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} |
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std::string name = frame.name.substr(0, sep); |
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if (std::find(names.rbegin(), names.rend(), name) != names.rend()) |
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names.push_back(name); |
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} |
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return names; |
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} |
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FrameIndices_t Device::robotFrames(const std::string& robotName) const { |
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const pinocchio::Model& model = this->model(); |
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FrameIndices_t frameIndices; |
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for (pinocchio::FrameIndex fi = 1; fi < model.frames.size(); ++fi) { |
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const std::string& name = model.frames[fi].name; |
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if (name.size() > robotName.size() && |
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name.compare(0, robotName.size(), robotName) == 0 && |
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name[robotName.size()] == '/') { |
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frameIndices.push_back(fi); |
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} |
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} |
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return frameIndices; |
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} |
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void Device::removeJoints(const std::vector<std::string>& jointNames, |
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Configuration_t referenceConfig) { |
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Parent_t::removeJoints(jointNames, referenceConfig); |
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for (auto& pair : grippers.map) |
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pair.second = pinocchio::Gripper::create(pair.second->name(), self_); |
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// TODO update handles and jointAndShapes |
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} |
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std::ostream& Device::print(std::ostream& os) const { |
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Parent_t::print(os); |
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// print handles |
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os << "Handles:" << std::endl; |
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handles.print(os); |
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// print grippers |
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os << "Grippers:" << std::endl; |
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grippers.print(os); |
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return os; |
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} |
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template <class Archive> |
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void Device::serialize(Archive& ar, const unsigned int version) { |
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using namespace boost::serialization; |
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(void)version; |
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auto* har = hpp::serialization::cast(&ar); |
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ar& make_nvp("base", base_object<pinocchio::HumanoidRobot>(*this)); |
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// TODO we should throw if a pinocchio::Device instance with name name_ |
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// and not of type manipulation::Device is found. |
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bool written = |
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(!har || har->template getChildClass<pinocchio::Device, Device>( |
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name_, false) != this); |
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ar& BOOST_SERIALIZATION_NVP(written); |
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if (written) { |
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ar& BOOST_SERIALIZATION_NVP(self_); |
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// TODO (easy) add serialization of core::Container ? |
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// ar & BOOST_SERIALIZATION_NVP(handles); |
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// ar & BOOST_SERIALIZATION_NVP(grippers); |
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// ar & BOOST_SERIALIZATION_NVP(jointAndShapes); |
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} |
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} |
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HPP_SERIALIZATION_IMPLEMENT(Device); |
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} // namespace manipulation |
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} // namespace hpp |
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BOOST_CLASS_EXPORT_IMPLEMENT(hpp::manipulation::Device) |
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